Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr Modelica_3.2.2_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint.conf.json
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo", uses=false)
Using package Modelica with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo)
Using package Complex with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo)
Using package ModelicaServices with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo)
Running command: translateModel(Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint,tolerance=1e-06,outputFormat="empty",numberOfIntervals=5000,variableFilter="",fileNamePrefix="Modelica_3.2.2_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint")
translateModel(Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint,tolerance=1e-06,outputFormat="empty",numberOfIntervals=5000,variableFilter="",fileNamePrefix="Modelica_3.2.2_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint")
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.0009891/0.0009892, allocations: 92.66 kB / 16.3 MB, free: 5.992 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001089/0.001089, allocations: 181.5 kB / 17.2 MB, free: 5.906 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.403/1.403, allocations: 205.4 MB / 223.4 MB, free: 5.543 MB / 174.1 MB
Notification: Modelica requested package Complex of version 3.2.3. Complex 4.0.0 is used instead which states that it is fully compatible without conversion script needed.
Notification: Modelica requested package ModelicaServices of version 3.2.3. ModelicaServices 4.0.0 is used instead which states that it is fully compatible without conversion script needed.
Notification: Performance of FrontEnd - loaded program: time 0.0006728/0.000673, allocations: 14.81 kB / 280.1 MB, free: 12.84 MB / 238.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.2698/0.2705, allocations: 47.58 MB / 327.7 MB, free: 1.43 MB / 254.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint): time 0.07033/0.3409, allocations: 73.49 MB / 401.2 MB, free: 9.863 MB / 334.1 MB
Notification: Performance of NFInst.instExpressions: time 0.04695/0.3879, allocations: 17.3 MB / 418.5 MB, free: 8.516 MB / 350.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.01991/0.4079, allocations: 383 kB / 418.9 MB, free: 8.141 MB / 350.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.01416/0.4221, allocations: 3.709 MB / 422.6 MB, free: 4.414 MB / 350.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.0333/0.4554, allocations: 10.3 MB / 432.9 MB, free: 10.09 MB / 366.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.006322/0.4618, allocations: 1.213 MB / 434.1 MB, free: 8.871 MB / 366.1 MB
Notification: Performance of NFFlatten.flatten: time 0.00842/0.4702, allocations: 3.897 MB / 438 MB, free: 4.965 MB / 366.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0153/0.4855, allocations: 9.463 MB / 447.4 MB, free: 11.41 MB / 382.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.003494/0.4891, allocations: 1.666 MB / 449.1 MB, free: 9.738 MB / 382.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.003298/0.4924, allocations: 2.032 MB / 451.1 MB, free: 7.699 MB / 382.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.001195/0.4936, allocations: 224 kB / 451.4 MB, free: 7.48 MB / 382.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.002895/0.4965, allocations: 1.389 MB / 452.8 MB, free: 6.09 MB / 382.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.002698/0.4993, allocations: 2.673 MB / 455.4 MB, free: 3.41 MB / 382.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.001861/0.5011, allocations: 1.365 MB / 456.8 MB, free: 2.035 MB / 382.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.2215/0.7227, allocations: 9.628 MB / 466.4 MB, free: 13.69 MB / 382.1 MB
Notification: Performance of FrontEnd - DAE generated: time 5.4e-06/0.7228, allocations: 0 / 466.4 MB, free: 13.69 MB / 382.1 MB
Notification: Performance of FrontEnd: time 4.158e-06/0.7228, allocations: 0.9375 kB / 466.4 MB, free: 13.69 MB / 382.1 MB
Notification: Performance of Transformations before backend: time 0.0005186/0.7233, allocations: 0 / 466.4 MB, free: 13.69 MB / 382.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 2401
 * Number of variables: 2401
Notification: Performance of Generate backend data structure: time 0.02122/0.7445, allocations: 7.279 MB / 473.7 MB, free: 10.84 MB / 382.1 MB
Notification: Performance of prepare preOptimizeDAE: time 3.925e-05/0.7446, allocations: 11.34 kB / 473.7 MB, free: 10.84 MB / 382.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.01094/0.7555, allocations: 2.727 MB / 476.4 MB, free: 10.38 MB / 382.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.0105/0.7661, allocations: 4.814 MB / 481.2 MB, free: 9.629 MB / 382.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003065/0.7664, allocations: 439.9 kB / 481.7 MB, free: 9.617 MB / 382.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.002772/0.7692, allocations: 0.6636 MB / 482.3 MB, free: 9.602 MB / 382.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.03539/0.8046, allocations: 17.15 MB / 499.5 MB, free: 4.914 MB / 382.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0002549/0.8049, allocations: 65.06 kB / 499.6 MB, free: 4.902 MB / 382.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001193/0.8061, allocations: 272.2 kB / 499.8 MB, free: 4.902 MB / 382.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003417/0.8095, allocations: 2.585 MB / 0.4906 GB, free: 4.379 MB / 382.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.03197/0.8415, allocations: 14.81 MB / 0.5051 GB, free: 14.02 MB / 398.1 MB
Warning: The model contains alias variables with redundant start and/or conflicting nominal values. It is recommended to resolve the conflicts, because otherwise the system could be hard to solve. To print the conflicting alias sets and the chosen candidates please use -d=aliasConflicts.
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.09944/0.941, allocations: 64.32 MB / 0.5679 GB, free: 9.094 MB / 446.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.02227/0.9633, allocations: 7.563 MB / 0.5753 GB, free: 2.934 MB / 446.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.02814/0.9915, allocations: 16.77 MB / 0.5917 GB, free: 6.242 MB / 462.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.51e-05/0.9916, allocations: 60.34 kB / 0.5917 GB, free: 6.191 MB / 462.1 MB
Notification: Performance of pre-optimization done (n=262): time 6.503e-06/0.9916, allocations: 0 / 0.5917 GB, free: 6.191 MB / 462.1 MB
Notification: Performance of matching and sorting (n=278): time 0.08457/1.076, allocations: 28.25 MB / 0.6193 GB, free: 10.83 MB / 494.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.001549/1.078, allocations: 1.622 MB / 0.6209 GB, free: 9.051 MB / 494.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.01306/1.091, allocations: 6.242 MB / 0.627 GB, free: 2.797 MB / 494.1 MB
Notification: Performance of collectPreVariables (initialization): time 0.0009592/1.092, allocations: 69.89 kB / 0.6271 GB, free: 2.723 MB / 494.1 MB
Notification: Performance of collectInitialEqns (initialization): time 0.2063/1.298, allocations: 4.85 MB / 0.6318 GB, free: 206 MB / 494.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.002334/1.301, allocations: 1.083 MB / 0.6329 GB, free: 205.4 MB / 494.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.001817/1.302, allocations: 182.6 kB / 0.633 GB, free: 205.4 MB / 494.1 MB
Notification: Performance of setup shared object (initialization): time 0.0008679/1.303, allocations: 0.6899 MB / 0.6337 GB, free: 205.1 MB / 494.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.006833/1.31, allocations: 3.381 MB / 0.637 GB, free: 204.4 MB / 494.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.01016/1.32, allocations: 8.779 MB / 0.6456 GB, free: 196 MB / 494.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.008214/1.329, allocations: 5.318 MB / 0.6508 GB, free: 194 MB / 494.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001557/1.329, allocations: 53.66 kB / 0.6508 GB, free: 194 MB / 494.1 MB
Notification: Performance of matching and sorting (n=1180) (initialization): time 0.0317/1.361, allocations: 14.79 MB / 0.6653 GB, free: 187.1 MB / 494.1 MB
Notification: Performance of prepare postOptimizeDAE: time 0.0003116/1.361, allocations: 88 kB / 0.6653 GB, free: 187 MB / 494.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.01677/1.378, allocations: 6.785 MB / 0.672 GB, free: 181.7 MB / 494.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.0128/1.391, allocations: 3.267 MB / 0.6752 GB, free: 179.6 MB / 494.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.00773/1.398, allocations: 2.121 MB / 0.6772 GB, free: 177.5 MB / 494.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.01702/1.415, allocations: 16.29 MB / 0.6931 GB, free: 160.4 MB / 494.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.009647/1.425, allocations: 0.5825 MB / 0.6937 GB, free: 159.8 MB / 494.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.00248/1.428, allocations: 0.5402 MB / 0.6942 GB, free: 159.3 MB / 494.1 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 875
 * Number of states: 0 ()
 * Number of discrete variables: 60 (freeMotionScalarInit.arrowColor[3],freeMotionScalarInit.arrowColor[2],freeMotionScalarInit.arrowColor[1],fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.color[1],fixedRotation.color[3],fixedRotation.color[2],fixedRotation.color[1],world.gravityArrowColor[3],world.gravityArrowColor[2],world.gravityArrowColor[1],world.axisColor_x[3],world.axisColor_x[2],world.axisColor_x[1],world.groundColor[3],world.groundColor[2],world.groundColor[1],world.gravitySphereColor[3],world.gravitySphereColor[2],world.gravitySphereColor[1],springOfConstraint.color[3],springOfConstraint.color[2],springOfConstraint.color[1],springOfConstraint.massColor[3],springOfConstraint.massColor[2],springOfConstraint.massColor[1],springOfJoint.color[3],springOfJoint.color[2],springOfJoint.color[1],springOfJoint.massColor[3],springOfJoint.massColor[2],springOfJoint.massColor[1],bodyOfConstraint.color[3],bodyOfConstraint.color[2],bodyOfConstraint.color[1],bodyOfConstraint.body.sphereColor[3],bodyOfConstraint.body.sphereColor[2],bodyOfConstraint.body.sphereColor[1],bodyOfConstraint.frameTranslation.color[3],bodyOfConstraint.frameTranslation.color[2],bodyOfConstraint.frameTranslation.color[1],bodyOfJoint.color[3],bodyOfJoint.color[2],bodyOfJoint.color[1],bodyOfJoint.body.sphereColor[3],bodyOfJoint.body.sphereColor[2],bodyOfJoint.body.sphereColor[1],bodyOfJoint.frameTranslation.color[3],bodyOfJoint.frameTranslation.color[2],bodyOfJoint.frameTranslation.color[1],sensorConstraintRelative.arrowColor[3],sensorConstraintRelative.arrowColor[2],sensorConstraintRelative.arrowColor[1],constraint.sphereColor[3],constraint.sphereColor[2],constraint.sphereColor[1],joint.sphereColor[3],joint.sphereColor[2],joint.sphereColor[1])
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (1116):
 * Single equations (assignments): 1100
 * Array equations: 8
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 3
 * Torn equation systems: 5
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details:
 * Constant Jacobian: 0
 * Linear Jacobian (size,density): 2 {(3,100.0%),(4,100.0%)}
 * Non-linear Jacobian: 1 {4}
 * Without analytic Jacobian: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 5 {(3,100.0%) 3,(3,100.0%) 3,(2,100.0%) 1,(2,100.0%) 1,(2,100.0%) 1}
 * Non-linear torn systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.008677/1.436, allocations: 3.243 MB / 0.6974 GB, free: 156.1 MB / 494.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001561/1.438, allocations: 0.5246 MB / 0.6979 GB, free: 155.5 MB / 494.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01298/1.451, allocations: 6.567 MB / 0.7043 GB, free: 148.9 MB / 494.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.009384/1.46, allocations: 5.643 MB / 0.7098 GB, free: 143.1 MB / 494.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 0.009084/1.469, allocations: 5.486 MB / 0.7152 GB, free: 137.6 MB / 494.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 5.396e-05/1.469, allocations: 15.95 kB / 0.7152 GB, free: 137.5 MB / 494.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03236/1.502, allocations: 17.49 MB / 0.7323 GB, free: 119.9 MB / 494.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.455e-05/1.502, allocations: 20.17 kB / 0.7323 GB, free: 119.9 MB / 494.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002468/1.504, allocations: 0.507 MB / 0.7328 GB, free: 119.4 MB / 494.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.005223/1.51, allocations: 1.846 MB / 0.7346 GB, free: 117.5 MB / 494.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0005256/1.51, allocations: 77.22 kB / 0.7347 GB, free: 117.4 MB / 494.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.01006/1.52, allocations: 9.982 MB / 0.7444 GB, free: 107 MB / 494.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.0007315/1.521, allocations: 1.477 MB / 0.7459 GB, free: 105.4 MB / 494.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.01475/1.536, allocations: 11.32 MB / 0.7569 GB, free: 93.5 MB / 494.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.001994/1.538, allocations: 0.6034 MB / 0.7575 GB, free: 92.87 MB / 494.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001119/1.539, allocations: 63.98 kB / 0.7576 GB, free: 92.81 MB / 494.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002745/1.542, allocations: 216.8 kB / 0.7578 GB, free: 92.6 MB / 494.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0004645/1.542, allocations: 201.5 kB / 0.758 GB, free: 92.4 MB / 494.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002081/1.542, allocations: 85.62 kB / 0.7581 GB, free: 92.32 MB / 494.1 MB
Notification: Performance of sorting global known variables: time 0.00596/1.548, allocations: 3.934 MB / 0.7619 GB, free: 88.38 MB / 494.1 MB
Notification: Performance of sort global known variables: time 2.6e-07/1.548, allocations: 0 / 0.7619 GB, free: 88.38 MB / 494.1 MB
Notification: Performance of remove unused functions: time 0.00963/1.558, allocations: 1.738 MB / 0.7636 GB, free: 86.66 MB / 494.1 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 43
 * Number of states: 12 ($STATESET1.x[3],$STATESET1.x[2],$STATESET1.x[1],joint.w_rel[1],joint.w_rel[2],joint.w_rel[3],bodyOfConstraint.body.w_a[1],bodyOfConstraint.body.w_a[2],bodyOfConstraint.body.w_a[3],freeMotionScalarInit.derd[1].u,freeMotionScalarInit.derd[2].u,freeMotionScalarInit.derd[3].u)
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (233):
 * Single equations (assignments): 223
 * Array equations: 4
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 4
 * Torn equation systems: 2
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details:
 * Constant Jacobian: 0
 * Linear Jacobian (size,density): 3 {(2,100.0%),(3,100.0%),(4,100.0%)}
 * Non-linear Jacobian: 1 {4}
 * Without analytic Jacobian: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 2 {(3,100.0%) 3,(3,100.0%) 3}
 * Non-linear torn systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.001014/1.559, allocations: 278.7 kB / 0.7639 GB, free: 86.39 MB / 494.1 MB
Notification: Performance of simCode: created initialization part: time 0.01515/1.574, allocations: 9.084 MB / 0.7727 GB, free: 77.23 MB / 494.1 MB
Notification: Performance of simCode: created event and clocks part: time 1.358e-05/1.574, allocations: 4 kB / 0.7727 GB, free: 77.23 MB / 494.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.005767/1.58, allocations: 3.385 MB / 0.7761 GB, free: 73.75 MB / 494.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.00514/1.585, allocations: 0.7778 MB / 0.7768 GB, free: 72.98 MB / 494.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.03566/1.621, allocations: 18.01 MB / 0.7944 GB, free: 54.82 MB / 494.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.007895/1.629, allocations: 5.012 MB / 0.7993 GB, free: 49.77 MB / 494.1 MB
Notification: Performance of simCode: alias equations: time 0.007768/1.637, allocations: 2.918 MB / 0.8021 GB, free: 46.85 MB / 494.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.001275/1.638, allocations: 379.4 kB / 0.8025 GB, free: 46.48 MB / 494.1 MB
Notification: Performance of SimCode: time 1.042e-06/1.638, allocations: 0 / 0.8025 GB, free: 46.48 MB / 494.1 MB
Notification: Performance of Templates: time 0.305/1.943, allocations: 62.23 MB / 0.8633 GB, free: 183.9 MB / 494.1 MB
make -j1 -f Modelica_3.2.2_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint.makefile
Environment - environmentSimulation:
(rm -f Modelica_3.2.2_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint.pipe ; mkfifo Modelica_3.2.2_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint.pipe ; head -c 1048576 < Modelica_3.2.2_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint.pipe >> ../files/Modelica_3.2.2_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint.sim & ./Modelica_3.2.2_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint  -abortSlowSimulation -alarm=480 -lv LOG_STATS > Modelica_3.2.2_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint.pipe 2>&1)
Environment - environmentSimulation: